The best level to recharge is the nominal voltage or voltage it is left at, nominal being 3.6 - 3.7v. If you are using the bike regularly it doesn't really matter but once you get to 50/60% it depends on your usage/range, it may be more critical depending on the battery capacity and intended range. For local use of say < 4 miles pottering about on errands one doesn't need to keep charging, if going further a field then if below 80% then worth charging up.
My errand/commute bike now only uses a 6ah battery with only a real world usage of 5.3ah at the given minimum current discharge I use, and is capable of 30 miles. I use miles per charge rather then being pedantic about voltage and will charge any where after 20 miles of use.
If there is no real need to go very deep discharge wise then stop at about 40/50%, deep discharge won't hurt and is a safety minimum limit should you need to use the max out of the battery on a ride.